VINS-Fusion 如何整合

在 MYNT® EYE 上运行 VINS-Fusion，请依照这些步骤：

  1. 下载 MYNT-EYE-D-SDK 及 ROS 安装。
  2. 按照步骤安装 VINS-Fusion 。
  3. 运行 mynteye_wrapper_d 和 VINS-Fusion 。

准备步骤

  1. 安装 Ubuntu 64位 16.04/18.04. ROS Kinetic/Melodic(如果已经安装ROS可以跳过). ROS安装步骤
  2. 安装 Ceres

安装Ceres

cd ~
git clone https://ceres-solver.googlesource.com/ceres-solver
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update && sudo apt-get install libsuitesparse-dev
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j3
sudo make install

安装 MYNT-EYE-VINS-FUSION-Samples

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

(如果安装失败，请尝试换一台系统干净的电脑或者重新安装系统与ROS)

在 MYNT® EYE 上运行 VINS-FUSION

1.运行mynteye节点

cd MYNT-EYE-D-SDK (local path of MYNT-EYE-D-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d vins_fusion.launch

2.打开另一个命令行运行vins-fusion

cd ~/catkin_ws
roslaunch vins mynteye-d-mono-imu.launch  # mono+imu fusion
# roslaunch vins mynteye-d-stereo.launch  # Stereo fusion / Stereo+imu fusion